Plane: use only downward facing rangefinder

ArduPlane/GCS_Mavlink.cpp

@@ -392,14 +392,14 @@ void Plane::send_pid_tuning(mavlink_channel_t chan)
 
 void Plane::send_rangefinder(mavlink_channel_t chan)
 {
-    if (!rangefinder.has_data()) {
+    if (!rangefinder.has_data_orient(ROTATION_PITCH_270)) {
         // no sonar to report
         return;
     }
     mavlink_msg_rangefinder_send(
         chan,
-        rangefinder.distance_cm() * 0.01f,
-        rangefinder.voltage_mv()*0.001f);
+        rangefinder.distance_cm_orient(ROTATION_PITCH_270) * 0.01f,
+        rangefinder.voltage_mv_orient(ROTATION_PITCH_270) * 0.001f);
 }
 
 void Plane::send_current_waypoint(mavlink_channel_t chan)

ArduPlane/Log.cpp

@@ -343,15 +343,15 @@ struct PACKED log_Sonar {
 void Plane::Log_Write_Sonar()
 {
     uint16_t distance = 0;
-    if (rangefinder.status() == RangeFinder::RangeFinder_Good) {
-        distance = rangefinder.distance_cm();
+    if (rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) {
+        distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
     }
 
     struct log_Sonar pkt = {
         LOG_PACKET_HEADER_INIT(LOG_SONAR_MSG),
         time_us     : AP_HAL::micros64(),
         distance    : (float)distance*0.01f,
-        voltage     : rangefinder.voltage_mv()*0.001f,
+        voltage     : rangefinder.voltage_mv_orient(ROTATION_PITCH_270)*0.001f,
         count       : rangefinder_state.in_range_count,
         correction  : rangefinder_state.correction
     };

ArduPlane/Plane.h

@@ -200,7 +200,7 @@ private:
 
     AP_InertialSensor ins;
 
-    RangeFinder rangefinder {serial_manager};
+    RangeFinder rangefinder {serial_manager, ROTATION_PITCH_270};
 
     AP_Vehicle::FixedWing::Rangefinder_State rangefinder_state;
 

ArduPlane/altitude.cpp

@@ -568,9 +568,9 @@ float Plane::rangefinder_correction(void)
  */
 void Plane::rangefinder_height_update(void)
 {
-    float distance = rangefinder.distance_cm()*0.01f;
+    float distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270)*0.01f;
     
-    if ((rangefinder.status() == RangeFinder::RangeFinder_Good) && home_is_set != HOME_UNSET) {
+    if ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && home_is_set != HOME_UNSET) {
         if (!rangefinder_state.have_initial_reading) {
             rangefinder_state.have_initial_reading = true;
             rangefinder_state.initial_range = distance;
@@ -586,10 +586,10 @@ void Plane::rangefinder_height_update(void)
         // to misconfiguration or a faulty sensor
         if (rangefinder_state.in_range_count < 10) {
             if (!is_equal(distance, rangefinder_state.last_distance) &&
-                fabsf(rangefinder_state.initial_range - distance) > 0.05f * rangefinder.max_distance_cm()*0.01f) {
+                fabsf(rangefinder_state.initial_range - distance) > 0.05f * rangefinder.max_distance_cm_orient(ROTATION_PITCH_270)*0.01f) {
                 rangefinder_state.in_range_count++;
             }
-            if (fabsf(rangefinder_state.last_distance - distance) > rangefinder.max_distance_cm()*0.01*0.2) {
+            if (fabsf(rangefinder_state.last_distance - distance) > rangefinder.max_distance_cm_orient(ROTATION_PITCH_270)*0.01*0.2) {
                 // changes by more than 20% of full range will reset counter
                 rangefinder_state.in_range_count = 0;
             }

ArduPlane/sensors.cpp

@@ -352,12 +352,12 @@ void Plane::update_sensor_status_flags(void)
     }
 #endif
 
-    if (rangefinder.num_sensors() > 0) {
+    if (rangefinder.has_orientation(ROTATION_PITCH_270)) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         if (g.rangefinder_landing) {
             control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;
         }
-        if (rangefinder.has_data()) {
+        if (rangefinder.has_data_orient(ROTATION_PITCH_270)) {
             control_sensors_health |= MAV_SYS_STATUS_SENSOR_LASER_POSITION;            
         }
     }